Robot, dust collection device, and dust collection method

ABSTRACT

Disclosed herein area robot, a dust collection device, and a dust collection method. The robot includes a first moving mechanism, a second moving mechanism, a dust collection part, and a dust collection part moving mechanism. The first moving mechanism is disposed on a base body, and moves a workpiece to be cut in a first axis direction. The second moving mechanism is supported on the base body via support portions, and moves a cutting body in a second axis direction orthogonal to the first axis direction. The dust collection part is disposed to face the cutting body, and collects cutting chips generated by the cutting of the workpiece to be cut using the cutting body. The dust collection part moving mechanism moves the dust collection part between a first position close to the workpiece to be cut and a second position remote from the workpiece to be cut.

CROSS-REFERENCES TO RELATED APPLICATIONS

This application claims the benefit of Japan Patent Application No. 2019-050135 filed on 18 Mar. 2019, which is hereby incorporated by reference herein in its entirety.

BACKGROUND OF THE INVENTION 1. Field of the Invention

The present invention relates to a robot, a dust collection device, and a dust collection method.

2. Description of the Related Art

Japanese Unexamined Patent Application Publication No. 2002-36182 discloses a printed circuit board dividing apparatus. In this printed circuit board dividing apparatus, a flat plate parallel to a printed circuit board is disposed in a receiving jig configured to hold a printed circuit board. An air emission port is provided in one side of a gap formed by the printed circuit board and the flat plate, and an air suction port is formed in a portion of the flat plate near the other side of the gap facing the air emission port.

In the printed circuit board dividing apparatus configured as described above, the emission of air and the suction of air are simultaneously performed, and thus the chips generated when a printed circuit board is cut can be effectively removed. Furthermore, the sufficient holding force of the receiving jig used to hold a printed circuit board can be secured.

BRIEF SUMMARY OF THE INVENTION

The above-described printed circuit board dividing apparatus includes the flat plate having at least a size comparable to the planar size of a printed circuit board, and thus the configuration of a device for collecting chips becomes large. For example, when the printed board dividing apparatus is mounted on a desktop robot functioning as an industrial robot, an overall system including the desktop robot becomes large. For this reason, there is a need for improvement.

In light of the above facts, the present invention provides a robot, a dust collection device, and a dust collection method that may improve dust collection efficiency and achieve a reduction in size.

In order to accomplish the above object, according to a first embodiment of the present invention, there is provided a robot including: a first moving mechanism disposed on a base body and configured to move a workpiece to be cut in a first axis direction; a second moving mechanism supported on the base body via support portions and configured to move a cutting body in a second axis direction orthogonal to the first axis direction; a dust collection part disposed to face the cutting body and configured to collect cutting chips generated by the cutting of the workpiece to be cut using the cutting body; and a dust collection part moving mechanism configured to move the dust collection part between a first position close to the workpiece to be cut and a second position remote from the workpiece to be cut.

According to a second embodiment of the present invention, there is provided the robot of the first embodiment, wherein the dust collection part moving mechanism moves the dust collection part to the first position upon the cutting of the workpiece to be cut using the cutting body.

According to a third embodiment of the present invention, there is provided the robot of the first or second embodiment, wherein the dust collection part moving mechanism moves the dust collection part to the second position before or after the cutting of the workpiece to be cut using the cutting body.

According to a fourth embodiment of the present invention, there is provided the robot of any one of the first to third embodiments, wherein the dust collection part is formed in a tubular shape having a direction orthogonal to each of the first and second axis directions as its tube axis direction, a drive source configured to drive the cutting body is connected to the cutting body, and, when viewed in the tube axis direction, the area of the opening of the dust collection part is set to be smaller than that of the drive source and to be larger than that of the cutting body.

According to a fifth embodiment of the present invention, there is provided the robot of any one of the first to fourth embodiments, wherein the dust collection part moving mechanism is composed of an actuator connected to the dust collection part and configured to reciprocate the dust collection part in a third axis direction orthogonal to each of the first and second axis directions.

According to a sixth embodiment of the present invention, there is provided the robot of the fifth embodiment, wherein the dust collection part is disposed below the cutting body in the third axis direction.

According to a seventh embodiment of the present invention, there is provided the robot of the first embodiment, further including a following structure configured to support the dust collection part moving mechanism and to place the dust collection part at a position facing the cutting body to follow the movement of the cutting body relative to the workpiece to be cut.

According to an eighth embodiment of the present invention, there is provided the robot of the seventh embodiment, wherein the one end part of the following structure supports the dust collection part via the dust collection part moving mechanism, and the remaining end part of the following structure is mounted on the second moving mechanism.

According to a ninth embodiment of the present invention, there is provided the robot of the seventh or eighth embodiment, wherein the intermediate part of the following structure is formed in a shape that bypasses the workpiece to be cut.

According to a tenth embodiment of the present invention, there is provided a robot including: a first moving mechanism disposed on a base body and configured to move a workpiece to be cut in a first axis direction; a second moving mechanism supported on the base body via support portions and configured to move a cutting body in a second axis direction orthogonal to the first axis direction; a dust collection part disposed to face the cutting body and configured to collect cutting chips generated by the cutting of the workpiece to be cut using the cutting body; and a following structure configured to place the dust collection part at a position facing the cutting body to follow the movement of the cutting body relative to the workpiece to be cut.

According to an eleventh embodiment of the present invention, there is provided a dust collection device including: a dust collection part disposed to face a cutting body and configured to collect cutting chips generated by the cutting of a workpiece to be cut using the cutting body; and a dust collection part moving mechanism configured to move the dust collection part between a first position close to the workpiece to be cut upon cutting and a second position remote from the workpiece to be cut before or after cutting.

According to a twelfth embodiment of the present invention, there is provided a dust collection device for a robot, the robot including a first moving mechanism disposed on a base body and configured to move a workpiece to be cut in a first axis direction and a second moving mechanism supported on the base body via support portions and configured to move a cutting body in a second axis direction orthogonal to the first axis direction, the dust collection device including: a dust collection part configured to collect cutting chips generated by the cutting of the workpiece to be cut using the cutting body; a dust collection part moving mechanism configured to move the dust collection part between a first position close to the workpiece to be cut and a second position remote from the workpiece to be cut; and a following structure configured to support the dust collection part moving mechanism and to place the dust collection part at a position facing the cutting body to follow the movement of the cutting body relative to the workpiece to be cut.

According to a thirteenth embodiment of the present invention, there is provided a dust collection method including: moving a workpiece to be cut in a first axis direction; moving a cutting body in a second axis direction orthogonal to the first axis direction; cutting the workpiece to be cut with the cutting body; disposing a dust collection part to face the cutting body, moving the dust collection part to a first position close to the workpiece to be cut, and collecting cutting chips generated by cutting; and moving the dust collection part to a second position remote from the workpiece to be cut.

According to a fourteenth embodiment of the present invention, there is provided the robot of the thirteenth embodiment, wherein collecting the cutting chips includes placing the dust collection part at a position facing the cutting body to follow the movement of the cutting body relative to the workpiece to be cut and collecting the cutting chips.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other objects, features, and advantages of the present invention will be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings, in which:

FIG. 1 is a front perspective view showing the overall configuration of a robot and the configurations of main parts of a dust collection device according to an embodiment of the present invention when viewed obliquely upward from the front side to the right;

FIG. 2 is a right side view showing the configurations of the robot and the dust collection device shown in FIG. 1 when viewed from the right side;

FIG. 3 is a rear perspective view showing the partial configuration of the robot and the configurations of the main parts of the dust collection device shown in FIGS. 1 and 2 when viewed obliquely upward from the rear side;

FIG. 4 is an enlarged rear perspective view showing the configurations of the main parts of the dust collection device shown in FIGS. 1, 2 and 3 when viewed obliquely upward from the rear side to the left;

FIG. 5 is an enlarged rear perspective view showing the configurations of a dust collection part and a moving mechanism in a remote operation state, i.e., main parts of the dust collection device shown in FIGS. 1, 2, 3 and 4, when viewed obliquely upward from the rear side;

FIG. 6 is an enlarged rear perspective view showing the configurations of the dust collection part and the moving mechanism, shown in FIG. 5, in a close operation state when viewed obliquely upward from the rear side, which corresponds to FIG. 5;

FIG. 7 is an enlarged front sectional view showing the cutting body of the robot shown in FIGS. 1 and 2 and the section of the dust collection part of the dust collection device, shown in FIGS. 1 to 5, in a remote operation state, in a more enlarged form;

FIG. 8 is an enlarged front sectional view showing the cutting body of the robot shown in FIGS. 1 and 2 and the section of the dust collection part of the dust collection device, shown in FIGS. 1 to 4 and 6, in a close operation state, in a more enlarged form, which corresponds to FIG. 7;

FIG. 9A is a table showing the relationships between the clearance between the dust collection part of a dust collection device and a workpiece to be cut and dust collection efficiency according to the present embodiment, and FIG. 9B is a graph that is created based on the relationships shown in the table of FIG. 9A; and

FIG. 10A is a table showing the relationships between the suction diameter of the dust collection part of a dust collection device and dust collection efficiency according to the present embodiment, and FIG. 10B is a graph that is created based on the relationships shown in the table of FIG. 10A.

DETAILED DESCRIPTION OF THE INVENTION

A robot, a dust collection device, and a dust collection method according to embodiments of the present invention will be described below with reference to FIGS. 1 to 10B.

In the drawings, each of the arrows X appropriately shown indicates the X-axis direction of a corresponding three-dimensional(3D) coordinate system, each of the arrows Y indicates the Y-axis direction thereof, and each of the arrows Z indicates the Z-axis direction thereof. The Y-axis direction is orthogonal to the X-axis direction on a corresponding plane, and the Z-axis direction is orthogonal to each of the X-axis direction and the Y-axis direction. Furthermore, each of these directions is a direction used for convenience in the description of a corresponding embodiment, and is not intended to limit the corresponding direction in the present invention.

(Overall Configurations of Robot 1 and Dust Collection Device 7)

As shown in FIG. 1, a robot 1 according to the present embodiment is configured as a tabletop robot having a three-axis specification and a board division specification. In other words, the robot 1 includes a first moving mechanism3 configured to move in the X-axis direction functioning as a first axis direction, a second moving mechanism 4 configured to move in the Y-axis direction functioning as a second axis direction, and a third moving mechanism 5 configured to move in the Z-axis direction functioning as a third axis direction. The first moving mechanism 3, the second moving mechanism 4, and the third moving mechanism 5 are disposed on a base body 2.

Furthermore, a dust collection device 7 is disposed in the robot 1. This dust collection device 7 is assembled and fastened to the robot 1. The individual elements of the present invention will be described in detail below.

(Configuration of Robot 1)

(1) Configuration of Base Body 2

As shown in FIGS. 1 and 2, the base body 2 of the robot 1 is composed of a rectangular parallelepiped housing 21 in which, when viewed on a plane, the length thereof in the Y-axis direction is set to be the same or approximately the same as the length thereof in the X-axis direction and the Z-axis direction is set as the thickness direction thereof (in this case, the height direction thereof). The top surface of the housing 21 is formed as a base surface 21Acomposed of a flat horizontal surface.

In this case, in FIG. 2, the left side of the base body 2 is the front side of the robot 1 on which an operator performs operation or the like in order to perform workpiece work. Meanwhile, the right side of the base body 2 is the rear side of the robot 1.

Returning to FIGS. land 2, the front end of the housing 21includes an operation surface 21B inclined obliquely downward from the base surface 21A and a signal port surface 21C extended downward from the front side end of the operation surface 21B. An operation part 22 is disposed on the right side of the operation surface 21B when viewed from the front side. The operation part 22 is connected to a control unit that is disposed inside the base body 2 and not shown in the drawings.

Various types of connection ports configured to connect to the control unit are disposed on the signal port surface 21C. In this case, the connection ports include a memory port, a local area network (LAN) port, a teaching pendant connection port, and a communication (COM) port. The connection ports connect the control unit with external devices of the robot 1.

Furthermore, a signal port surface is also disposed on the rear side of the housing 21 that is not shown in the drawings. Various types of connection ports, including a COM port, and an input/output (I/O) port, are disposed on this signal port surface.

(2) Configuration of First Moving Mechanism 3

The first moving mechanism 3 is disposed on the base surface 21A of the base body 2. The first moving mechanism 3 includes a slide rail 31 and a slider (X-axis moving part) 32.

The slide rail 31 is disposed on the base surface 21A to protrude from the base surface 21A in the middle of the base surface 21A in the Y-axis direction, and extends using the X-axis direction as its longitudinal direction. The slide rail 31 is formed as a structure fixed to the base surface 21A.

The slider 32 is formed along the top surface and both the side surfaces of the slide rail 31, and is slidably disposed on the slide rail 31. In other words, the slider 32 is configured to reciprocate in the forward and reverse directions of the X-axis direction in the longitudinal direction of the slide rail 31. The slider 32 is configured to be moved at high speed by a moving mechanism into which an electric motor disposed below the slide rail 31 or inside the housing 21and not shown in the drawings and a belt mechanism configured to move the slider 32through the rotation of the electric motor and not shown in the drawings are combined.

As shown in FIG. 2, a workpiece 8 to be cut on which workpiece work is performed in the robot 1 is held on the slider 32 via a holding jig that is not shown in the drawings. In other words, the first moving mechanism 3 is configured to move the workpiece 8 to be cut in the X-axis direction.

In this case, although a detailed description of a configuration is omitted, a printed circuit board (PCB) is used as the workpiece 8 to be cut as an example. Such a PCB uses a glass epoxy-based resin substrate as an insulating substrate, and copper wirings configured to connect circuits are formed on the insulating substrate. Furthermore, electronic parts such as an integrated circuit, a resistor, and a capacitor are mounted on the PCB.

A plurality of printed circuit boards (PCBs) having the same function is repeatedly formed as a pattern in the PCB functioning as the workpiece 8 to be cut, and the robot 1performs the workpiece work of dividing and subdividing the workpiece 8 to be cut by cutting it. Accordingly, a plurality of subdivided PCBs may be manufactured from the workpiece 8 to be cut.

Furthermore, the robot 1 may perform not only the subdivision of the workpiece 8 to be cut, i.e., the division of the substrate, but also cutting work, such as straight cutting, curved cutting, right-angle cutting, and corner chamfering, on the workpiece 8 to be cut.

(3) Configuration of Second Moving Mechanism 4

As shown in FIGS. 1 and 2, the second moving mechanism 4 is disposed above the base surface 21A of the base body 2and above the first moving mechanism 3. More specifically, the second moving mechanism 4 includes a pair of support portions 41and42, a slide rail (horizontal arm) 43, and a slider (Y-axis moving part) 44.

One support portion 41 of the pair of support portions 41 and 42 is disposed on the rear end portion of the left surface of the housing 21 of the base body 2 when viewed from the front side, and is formed in a rectangular column shape that stands upward from the base body 2 in the Z-axis direction. The other support portion 42 of the pair of support portions 41 and 42 is disposed on the rear end portion of the right surface of the housing 21 of the base body 2 when viewed from the front side, and is formed in a rectangular column shape that stands upward from the base body 2 in the Z-axis direction, like the one support portion 41.

The slide rail 43 is formed in a rectangular column shape extending using the Y-axis direction as its longitudinal direction, and is installed across a space from the one support portion 41 to the other support portion 42. In other words, one end of the slide rail 43 is connected to the upper end of the support portion 41, and the other end of the slide rail 43 is connected to the upper end of the support portion 42.

A structure into which the pair of left and right support portions 41and 42 and the slide rail 43 installed across the space from the upper end of the support portion 41 to the upper end of the support portion 42 are assembled is formed such that when viewed from the front side, the lower side thereof, which is a base body side, is opened and the upper side thereof is connected. When the bottom surface of the slide rail 43 is set as the start position of the downward movement of the third moving mechanism 5, the bottom surface of the slide rail 43 is disposed at a position that is spaced apart from the slider 32 in the Z-axis direction by at least a distance corresponding to the stroke of the third moving mechanism 5 in the Z-axis direction.

The slider 44 is formed along the side surface of the front side of the slide rail 43 and the top surface of the slide rail 43, and is disposed to is slidable along the slide rail 43. In other words, the slider 44 is configured to reciprocate in the forward and reverse directions of the Y-axis direction along the longitudinal direction of the slide rail 43. The slider 44 is configured to be moved at high speed by a moving mechanism into which an electric motor disposed inside the slide rail 43 and not shown in the drawings and a belt mechanism configured to move the slider 44 through the rotation of the electric motor are combined. The slider 44 contains the third moving mechanism 5 therein, and is thus formed in a rectangular column shape having the Z-axis direction as its longitudinal direction.

In the second moving mechanism 4 configured as described above, the slide rail 43 is supported on the base body 2 in a clamped beam structure via the pair of support portion 41and support portion 42. Furthermore, the second moving mechanism4 is disposed on the base body 2 independently of and separately from the first moving mechanism 3.

As shown in FIG. 1, one end of a cable bear 45 is connected to the upper end of the slider 44. The other end of the cable bear 45 extends on the slide rail 43 in the Y-axis direction. Although a detailed description of a structure is omitted, signal wirings and power supply wirings are arranged in the cable bear 45. The signal wirings are configured to connect the control unit to each of the second moving mechanism 4 and the third moving mechanism 5. The power supply wirings are configured to connect a power supply circuit (not shown) to each of the second moving mechanism 4 and the third moving mechanism 5.

(4) Configuration of Third Moving Mechanism 5

The third moving mechanism 5 is disposed in the slider 44 of the second moving mechanism 4. The third moving mechanism 5 includes a slide rail disposed in the slider 44 and not shown in the drawings and a slider (Z-axis moving part) 51. The slider 51 is disposed to be slidable along the slide rail, and is configured to reciprocate in the forward and reverse directions of the Z-axis direction. In other words, the slider 51 is configured to be selectively lifted and lowered in an upward or downward direction.

(5) Configuration of Cutting Body 6

The third moving mechanism 5 is equipped with a cutting body 6 configured to subdivide the workpiece 8 to be cut as a tool that performs workpiece work. The cutting body 6 is mounted below the slider 51.

In the present embodiment, the cutting body 6 uses router bits as a cutting tool. More specifically, in this case, there are used straight router bits in which bits are formed in the Z-axis direction on the circumferential surface of a cylindrical shape extending in the Z-axis direction. A drive source 62 configured to rotate the cutting body 6 is connected to the cutting body 6 via a collet chuck that is not shown in the drawings. A router is used as the drive source 62. The router rotates the cutting body 6 by rotating the rotating shaft of an electric motor having a direction parallel to the Z-axis direction as its axial direction.

The cutting body 6 is held by a holding part 61 via the drive source 62, and the cutting body 6andthe drive source 62 are mounted on the slider 51 via the holding part 61.

Furthermore, the cutting body 6 is not limited to the router bits, but may be a cutting tool, such as a drill, or a bite, in accordance with the type of workpiece work regarding the workpiece 8 to be cut. For example, when a drill is used as the cutting body 6, drilling work may be performed on the workpiece 8 to be cut as workpiece work. Furthermore, when a bite is used as the cutting body 6, grooving work may be performed on the workpiece 8 to be cut as workpiece work.

Furthermore, the workpiece 8 to be cut is not limited to a PCB. For example, the workpiece 8 to be cut may be a paper phenolic board formed by infiltrating phenolic resin into paper, which is an insulator. Alternatively, the workpiece 8 to be cut may be a workpiece work material made of resin or metal and having a block shape.

In the present embodiment, although the cutting body 6 (and the drive source 62) is moved in the Z-axis direction because it is mounted on the third moving mechanism 5, the third moving mechanism 5 is disposed on the slider 44 of the second moving mechanism 4, with the result that the second moving mechanism 4 moves the cutting body 6 in the Y-axis direction.

(Configuration of Dust Collection Device 7)

As shown in FIGS. 1 to 3, the robot 1 includes the dust collection device 7. The dust collection device 7 has the function of collecting cutting chips that are generated from the workpiece 8 to be cut by using the cutting body 6. For example, when the workpiece 8 to be cut is a PCB, as described above, cutting chips are generated from a glass epoxy-based resin substrate and copper wirings by sub division, and thus these cutting chips are collected by the dust collection device 7.

Although the dust collection device 7 is assembled and mounted to the robot 1 in an integrated manner by using, for example, a coupling member, the dust collection device 7 may be mounted to the robot 1 in advance when a product is shipped, or may be mounted to the robot 1 later as an option kit after a product has been shipped.

The dust collection device 7 includes a dust collection part 71, a dust collection part moving mechanism 72, and a following structure 73 as its main components. Furthermore, the dust collection device 7 has a suction device, a filter, and a dust collector with dust collection hoses disposed therebetween. The dust collection device 7 is configured to be connected to an external dust collection device that is separate from the robot 1 and is not shown in the drawings. A description of this external dust collection device is omitted.

The components of the dust collection device 7 will be described in detail below.

(1) Configuration of Dust Collection Part 71

The dust collection part 71 is disposed below the cutting body 6 to face the cutting body 6 in the Z-axis direction, as shown in FIGS. 1 and 2, and is disposed relative to the cutting body 6 with the workpiece 8 to be cut interposed therebetween, as shown in FIGS. 2 and 7. In other words, in the present embodiment, the dust collection part 71 is disposed directly below the cutting body 6.

As shown in FIGS. 1 to 4, 5 and 7, the dust collection part 71 is formed in a tubular shape made of metal or resin having the Z-axis direction orthogonal to each of the X-axis direction and the Y-axis direction as a tube axis direction. The dust collection part 71 sucks cutting chips from the opening of the upper end thereof into the inside 71A (see FIG. 8) thereof.

In the present embodiment, the dust collection part 71 is formed in a circular tube shape. In the dust collection part 71 configured as described above, the distance between a position at which the workpiece 8 is cut and the opening edge of the upper end of the dust collection part 71 is constant in any direction on the horizontal XY-plane, thereby effectively suppressing the non-uniformity of dust collection efficiency.

As shown in FIG. 7, in the dust collection part 71, the opening area A3 of the upper end opening of the tube shape is set to be smaller than the area A1 of the drive source 62 projected onto a plane (a plane that is allocated a symbol S for convenience sake, is indicated by the alternate long and short dash line, and is parallel to the XY-plane) that is the same as the upper end opening. Additionally, the opening area A3 of the dust collection part 71 is set to be larger than the area A2 of the cutting body 6 projected onto the plane S. In other words, when viewed from the tube axis direction of the dust collection part 71, the opening area A3 is set to be smaller than the area A1 and to be larger than the area A2. In other words, in a side view, the opening size (diameter size) of the dust collection part 71 is set within the range from the outer diameter size (diameter size) of the cutting body 6 to the outer diameter size (diameter size) of the drive source 62.

In the present embodiment, the opening size of the dust collection part 71 is set to 4 to 8 mm, preferably 6 mm. In this case, router bits having a diameter size of 0.6 to 1.0 mm are used as the cutting body 6. Accordingly, in an area considerably smaller than the overall planar size of the workpiece 8 to be cut and slightly larger than the cutting portion of the workpiece 8 to be cut, the dust collection device 7 may collect cutting chips by using the dust collection part 71 in a pinpoint manner.

The dust collection part 71 is disposed on a dust collection part base 711 formed in a rectangular parallelepiped shape made of metal or resin, as shown in FIGS. 4 and 5. The dust collection part 71 is disposed from the upper end of the dust collection part base 711 to the lower end thereof across the inside of the dust collection part base 711. The upper portion of the dust collection part 71 protrudes from the top surface of the dust collection part base 711, and the lower portion of the dust collection part 71 protrudes from the bottom surface of the dust collection part base 711. A joint 712 is mounted on the lower portion of the dust collection part 71. For example, a coupler socket is used as the joint 712.

Furthermore, a connection part 710 configured to protrude to the front side of the robot 1 in the X-axis direction is integrated with the dust collection part base 711. This connection part 710 is used for connection with the dust collection part moving mechanism 72.

(2) Configuration of Dust Collection Part Moving Mechanism 72

As shown in FIGS. 4 to 6, the dust collection part moving mechanism 72 is disposed below the connection part 710 of the dust collection part 71 and connected to the connection part 710. The dust collection part moving mechanism 72 is constructed as an actuator configured to move the dust collection part 71 in upward and downward directions via the connection part 710 in the direction of arrow Z1 (see FIG. 6) along the Z-axis direction.

As shown in FIGS. 5 and 6, in the present embodiment, the dust collection part moving mechanism 72 includes piston rods 72P and a cylinder 72C. The piston rods 72P are formed in circular column shapes (circular rod shapes) having the Z-axis direction as their axial direction. The tops of the piston rods 72P are connected to the connection part 710. The bottoms of the piston rods 72P are connected to pistons not shown in the drawings. The pistons are disposed in the cylinder 72C, and are thus slidable in the Z-axis direction. In this case, a plurality of piston rods 72P, more specifically three piston rods 72P, are disposed in the X-axis direction.

Meanwhile, the cylinder 72C is composed of a block having a rectangular parallelepiped shape. A cylindrical internal space (not shown) configured to allow for the pistons to be slidable in upward and downward directions is formed inside the cylinder 72C. A first fluid port 722A connected to the internal space above the pistons is disposed in the upper portion of one side of the cylinder 72C, and a joint 723 is mounted into the first fluid port 722A. A second fluid port 722B connected to the internal space below the pistons is disposed in the lower portion of the one side of the cylinder 72C, and a joint 724 is mounted into the second fluid port 722B. For example, coupler sockets are used as the joints 723 and 724.

When a fluid enters from the first fluid port 722A into the internal space of the cylinder 72C, the pistons are pressed downward, and thus the piston rods 72P are lowered. Furthermore, when the fluid enters from the second fluid port 722B into the internal space of the cylinder 72C, the pistons are pressed upward, and thus the piston rods 72P are raised.

In this case, compressed air is used as the fluid. In other words, in the present embodiment, the dust collection part moving mechanism 72 is composed of an air cylinder mechanism. The compressed air is supplied by a compressor that is disposed outside the robot 1 and not shown in the drawings.

For example, an electromagnetic valve is used for switching between the supply of the fluid to the first fluid port 722A and the supply of the fluid to the second fluid port 722B. Although only the cover 729 that covers the electromagnetic valve is shown in FIG. 1, the electromagnetic valve is mounted onto the support portion 42 and covered with the cover 729.

In the dust collection part moving mechanism 72 configured as described above, the top surface of the dust collection part 71 may be moved between a second position remote from the lower surface of the workpiece 8 shown in FIGS. 5 and 7 and a first position close to the lower surface of the workpiece 8 shown in FIGS. 6 and 8.

As shown in FIG. 8, at the first position, the distance (clearance) L1 from the bottom surface of the workpiece 8 to be cut to the top surface of the dust collection part 71 is 1 to 2 mm, preferably 1 mm in the present embodiment. Furthermore, the movement distance (the vertical stroke of the dust collection part 71) L2 from the first position to the second position is set to 10 mm in this case.

(3) Configuration of Following Structure 73

As shown in FIGS. 1 to 4, the following structure 73 includes one end part 731, a remaining end part 732, and an intermediate part 733.

As shown in FIG. 4, the one end part 731 is configured in such a manner that a housing 731A having a rectangular box shape, the top surface of which is open, and a lid 731B having a rectangular box shape, the size of which is slightly larger than that of the housing 731A and the bottom surface of which is open, are superimposed on each other. Each of the housing 731A and the lid 731B is formed using the X-axis direction as its longitudinal direction, the Y-axis direction as its widthwise direction, and the Z-axis direction as its thickness direction. Both the housing 731A and the lid 731B are made of, e.g., metal having high mechanical strength.

In one end portion of the front side of the one end part 731, an opening 731C is formed in the lid 731B toward the rear side in the X-axis direction. In the opening 731C (or in an area corresponding to the opening 731C), the dust collection part moving mechanism 72 is assembled in the housing 731A of the one end part 731. Furthermore, in the housing 731A, the dust collection part 71 protruding upward from the opening 731C is supported through the dust collection part moving mechanism 72. The dust collection part 71 is disposed directly below the cutting body 6, as described above.

A shared inside 731D is formed in the one end part 731 by superimposing the housing 731A and the lid 731B on each other, and a dust collection hose 713, a fluid supply hose 725 and a fluid supply hose 727 are arranged in the inside 731D.

One end of the dust collection hose 713 is connected to the joint 712 mounted at the lower end of the dust collection part 71,and the other end of the dust collection hose 713 is connected to a joint 714 disposed on the rear side of the one end part 731. The joint 714 is connectable to the external dust collection device through a dust collection hose that is not shown in the drawings.

One end of the fluid supply hose 725 is connected to the joint 723 mounted on the cylinder 72C of the dust collection part moving mechanism 72, and the other end of the fluid supply hose 725 is connected to a joint 726 disposed on the rear side of the one end part 731. One end of the fluid supply hose 727 is connected to the joint 724 mounted on the cylinder 72C, and the other end of the fluid supply hose 727 is connected to a joint 728 disposed on the rear side of the one end part 731. Each of the joints 726 and 728 is adapted to be connectable to a compressor via the electromagnetic valve.

As shown in FIGS. 1 to 3, the remaining end part 732 is mounted on the slider 44 of the second moving mechanism 4. The remaining end part 732 includes a pair of remaining end part members at both ends of the slider 44 in the Y-axis direction, and is composed of plate-shaped members made of metal having the Z-axis direction as their longitudinal direction and the Y-axis direction as their thickness direction. Furthermore, in order to enhance mechanical strength, the remaining end part 732 may be made of an angle material. The remaining end part 732 is assembled to the slider 44 by using coupling members.

The intermediate part 733 is configured such that the upper one end thereof is integrated with the lower portion of the remaining end part 732 or the upper one end thereof is connected to the lower portion of the remaining end part 732 in an integrated manner and the lower remaining end thereof is connected to the rear side of the one end part 731. The intermediate part 733 includes a pair of intermediate part members that correspond to the pair of remaining end part members and are spaced apart from each other in the Y-axis direction.

In this case, the phrase “is integrated with” is used to mean that the remaining end part 732 and the intermediate part 733 are formed in the state of having been connected to each other via the same material. Furthermore, the phrase “is connected to . . . in an integrated manner” is used to mean that the remaining end part 732 and the intermediate part 733 are made of the same material or different materials and connected to each other by a bonding means such as welding or a fastening means such as a bolt and nut.

As shown in FIG. 2, the intermediate part 733 is formed in a shape that extends from a position where the intermediate part 733 is connected to the remaining end part 732 toward the rear side of the robot 1 in the X-axis direction and then extends downward from the rear end of the above extension in the Z-axis direction. This intermediate part 733 is composed of plate members made of metal having the Y-axis direction as their thickness direction. In other words, each of the intermediate part members of the intermediate part 733 is formed in an inverted and inversed “L” shape formed by rotating an L-shape plate member by 180 degrees by using the Y-axis direction as its rotating shaft direction.

The intermediate part 733 configured as described above is formed in a shape that bypasses the workpiece 8 to be cut toward the rear side of the robot 1 along the surface (top surface) of the workpiece 8 to be cut on a cutting body side.

As shown in FIGS. 1 and 3, a connection part 734 is disposed across the pair of intermediate part members of the intermediate part 733 on the top of a portion extending toward the rear side of the pair of intermediate part members of the intermediate part 733. The connection part 734 is formed in a rectangular shape when viewed in a plan view, and is composed of a plate member made of metal or resin having the Z-axis direction as its thickness direction. The connection part 734 connects the pair of intermediate part members of the intermediate part 733, thereby improving mechanical strength.

The following structure 73 configured as described above supports the dust collection part moving mechanism 72 and dust the collection part 71 on the one end part 731, and connects the remaining end part 732 to the second moving mechanism 4. For this reason, in the following structure 73, the dust collection part 71 may always be placed at a position facing the cutting body 6 to follow the movement of the cutting body 6 relative to the workpiece 8 to be cut.

(Dust Collection Method of Robot 1)

The dust collection method of the robot 1 according to the present embodiment will be described in brief with reference to FIGS. 1 to 8.

First, the workpiece 8 to be cut is held on the slider 32 of the first moving mechanism 3 via the holding jig not shown in the drawings (see FIGS. 1 and 2). When the slider 32 is moved in the X-axis direction by the first moving mechanism 3, the workpiece 8 to be cut is moved in the X-axis direction to follow the movement of the slider 32.

Meanwhile, the drive source 62 functioning as a tool is mounted on the slider 51 of the third moving mechanism 5 via the holding part 61. The cutting body 6 is connected to the drive source 62. Since the third moving mechanism 5 is disposed on the slider 44 of the second moving mechanism 4, the cutting body 6 is moved in the Y-axis direction to follow the movement of the slider 44 when the slider 44 is moved in the Y-axis direction.

By moving the cutting body 6 in the Y-axis direction before, after or upon the movement of the workpiece 8 to be cut in the X-axis direction, the cutting body 6 may be moved to a place where the workpiece 8 is cut on the XY-plane.

When the workpiece 8 to be cut or cutting body 6 is moved, the dust collection part moving mechanism 72 of the dust collection device 7 moves the top surface of the dust collection part 71 to a second position, as shown in FIGS. 5 and 7. In other words, the dust collection part 71 is remote from the surface of the workpiece 8 to be cut.

Although not shown in FIG. 7, a PCB is used as the workpiece 8 to be cut in this case. In practice, electronic parts such as an integrated circuit, a resistor, and a capacitor are mounted on the PCB. When the top surface of the dust collection part 71 is disposed at the second position remote from the workpiece 8 to be cut, contact or interference between the electronic parts and the dust collection part 71 is effectively eliminated when the dust collection part 71 is moved relative to the workpiece 8 to be cut.

The cutting body 6 is moved toward the workpiece 8 to be cut by moving the slider 51 of the third moving mechanism 5 downward in the Z-axis direction. Before, after or upon the movement of the cutting body 6, the top surface (opening) of the dust collection part 71 is moved to the first position, as shown in FIGS. 6 and 8, and then dust collection is started using the dust collection device 7. In other words, the dust collection part 71 is brought close to the workpiece 8 to be cut in the start of the cutting of the workpiece 8 to be cut using the cutting body 6.

When the cutting of the workpiece 8 to be cut using the cutting body 6 is started, the cutting chips generated by cutting are collected in the inside 71A of the dust collection part 71, as indicated by the arrows in FIG. 8. Even when a position at which the workpiece 8 is cut is moved, the dust collection part 71 is always disposed directly below the cutting body 6 in a pinpoint manner by the following structure 73 in the dust collection device 7, and thus dust collection continues to be performed.

When the cutting work of the workpiece 8 to be cut is finished, i.e., in this case, the workpiece 8 to be cut has been subdivided into a plurality of PCBs, the slider 51 of the third moving mechanism 5 is moved upward in the Z-axis direction, and thus the cutting body 6 is moved from the position at which the cutting of the workpiece 8 is finished. Before, after and upon the movement of the cutting body 6,the dust collection part moving mechanism 72 of the dust collection device 7 moves the top surface of the dust collection part 71 to the second position, as shown in FIGS. 5 and 7. In other words, the dust collection part 71 is moved remote from the surface of the workpiece 8 to be cut. In this state, the cutting body 6andthe dust collection part 71 are moved relative to the workpiece 8 to be cut. Thereby, the dust collection method of the robot 1 is completed.

(Operation and Effects)

As described above, the robot 1 according to the present embodiment includes the first moving mechanism 3 and the second moving mechanism 4, as shown in FIGS. 1 and 2. The first moving mechanism 3 is disposed on the base body 2, and moves the workpiece 8 to be cut (see FIG. 2) in the X-axis direction functioning as the first axis direction. The second moving mechanism 4 is supported on the base body 2 via the support portion 4landthe support portion 42, and moves the cutting body 6 in the Y-axis direction functioning as the second axis direction, which is orthogonal to the X-axis direction.

In this case, the robot 1 further includes the dust collection device 7. The dust collection device 7 includes the dust collection part 71 and the dust collection part moving mechanism 72, as shown in FIGS. 1 to 8. As shown in FIGS. 2, 7 and 8, the dust collection part 71 is disposed to face the cutting body 6 with the workpiece 8 to be cut interposed therebetween, and collects the cutting chips generated by the cutting of the workpiece 8 to be cut using the cutting body 6. As shown in FIGS. 5 to 8, the dust collection part moving mechanism 72 moves the dust collection part 71 between the first position close to the workpiece 8 to be cut and the second position remote from the workpiece 8 to be cut.

In the robot 1 configured as described above, cutting chips are collected by the dust collection part 71 in the state of having been brought close to the workpiece 8 to be cut by the dust collection part moving mechanism 72, and thus dust collection efficiency may be improved by improving the suction force of the dust collection part 71 used to suck cutting chips.

FIG. 9A shows the actually measured values of the distance (clearance) L1 [mm] (see FIG. 8) from the bottom surface of the workpiece 8 to be cut to the top surface of the dust collection part 71 and dust collection efficiency [%] in the collection of cutting chips. A graph that is created based on these actually measured values is shown in FIG. 9B. In FIG. 9B, the horizontal axis indicates the distance L1 [mm], and the vertical axis indicates the dust collection efficiency [%].

As shown in FIGS. 9A and 9B, the dust collection efficiency is 82.5 [%] when the distance L1 is 4 [mm], the dust collection efficiency is 90.1 [%] when the distance L1 is 3 [mm], and the dust collection efficiency is 96.7 [%] when the distance L1 is 2 [mm]. In other words, when the distance L1 is reduced during cutting, the dust collection efficiency is increased in inverse proportion to the distance L1. When the distance L1 is 1 [mm], the dust collection efficiency reaches the highest 99.5 [%], which is highest within the range of the actually measured values.

As described above, in the robot 1, the dust collection efficiency may be improved by bringing the dust collection part 71 close to the workpiece 8 to be cut. Accordingly, when the dust collection part 71 is located in a place where the workpiece 8 is cut in a pinpoint manner, cutting chips may be reliably collected using the dust collection part 71. For this reason, the size of the dust collection part 71, i.e., the size of the dust collection device 7, may be made small, and thus a reduction in the size of the robot 1 may be achieved.

Furthermore, in the robot 1,the dust collection part 71 may be moved to the second position remote from the workpiece 8 to be cut by using the dust collection part moving mechanism 72 before or after cutting. For example, even when a protrusion is present on the bottom surface of the workpiece 8 to be cut, e.g., an electronic part is mounted on a PCB, contact or interference between the electronic part and the dust collection part 71 may be effectively suppressed or prevented.

For this reason, the dust collection part 71 may be moved without bypassing a mounted part, and thus the time required for a cutting process, including the movement time of the dust collection part 71, may be reduced.

Furthermore, in the robot 1, the dust collection part 71 is located in a place where the workpiece 8 is cut in a pinpoint manner, and thus a load attributable to the driving of the first moving mechanism 3 may be reduced compared to a case where suction is performed over the overall surface of the workpiece 8 to be cut. Accordingly, the driving force of the first moving mechanism 3 may be made small, and thus a reduction in the size of the robot 1 may be achieved in this point.

Furthermore, in the robot 1, the dust collection part 71 is located in a place where the workpiece 8 is cut in a pinpoint manner, and thus suction loss attributable to the suction of surrounding extra air may be effectively reduced compared to a case where suction is performed over the overall surface of the workpiece 8 to be cut. For this reason, the suction capability of the external dust collection device may be made small, and thus a reduction in the size of an overall system, including the robot 1 and the external dust collection device, may be achieved.

Furthermore, in the robot 1, the dust collection part 71 is located in a place where the workpiece 8 is cut in a pinpoint manner, and thus a dust collection box configured to surround the overall workpiece 8 to be cut and to increase the degree of sealing is not required. For this reason, a reduction in the size of the robot 1 may be further achieved.

Furthermore, in the robot 1 according to the present embodiment, as shown in FIGS. 4 to 8, the dust collection part 71 is formed in a tubular shape having the Z-axis direction, orthogonal to the X-axis direction and the Y-axis direction, as its tube axis direction. As shown in FIGS. 1, 2 and 7, the drive source 62 configured to drive the cutting body 6 is connected to the cutting body 6. Furthermore, as shown in FIG. 7, when viewed in the tube axis direction, the opening area A3 of the dust collection part 71 is set for convenience, and is set to be smaller than the area A1 of the drive source 62 projected onto a plane S that is the same as that of the opening and is also set to be larger than the area A2 of the cutting body 6. In other words, these areas have the following inequality relationship:

The area A1 of the drive source 62>the opening area A3 of the dust collection part 71>the area A2 of the cutting body 6

FIG. 10A shows the actually measured values of the opening diameter, i.e., suction diameter [mm] (corresponding to a width size indicated as the opening area A3 in FIG. 7), of the dust collection part 71 and dust collection efficiency [%] in the collection of cutting chips. A graph that is created based on these actually measured values is shown in FIG. 10B. In FIG. 10B, the horizontal axis indicates the suction diameter [mm], and the vertical axis indicates the dust collection efficiency [%].

As shown in FIGS. 10A and FIG. 10B, the dust collection efficiency is 97.3 [%] when the suction diameter is 2 [mm], and the dust collection efficiency is 96.7 [%] when the suction diameter is 4 [mm]. When the suction diameter is increased from 2 [mm] to 4 [mm], the dust collection efficiency is slightly decreased. However, when the suction diameter is 6 [mm], the dust collection efficiency is 99.5 [%], which the highest within the range of the actually measured values. When the suction diameter is 8 [mm], the dust collection efficiency is 98.8 [%], which is slightly lower than that of a case where the suction diameter is 6 [mm].

For this reason, the dust collection part 71 may be constructed in a size smaller than that of the drive source 62 functioning as a tool, i.e., a router in this case, compared to that of a case where suction is performed over the overall surface of the workpiece 8 to be cut, and thus a reduction in the size of the robot 1 may be further achieved.

Furthermore, in the robot 1 according to the present embodiment, the dust collection part moving mechanism 72 of the dust collection device 7 is composed of an actuator that is connected to the dust collection part 71, as shown in FIGS. 5 and 6, and reciprocates the dust collection part 71 in the Z-axis direction orthogonal to each of the X-axis direction and the Y-axis direction.

For this reason, the dust collection part moving mechanism 72 may be constructed in a simple structure configured to reciprocate the dust collection part 71 only in the Z-axis direction and composed of a small-sized actuator, and thus a reduction in the size of the dust collection device 7 and also a reduction in the size of the robot 1 may be further achieved.

More specifically, in the present embodiment, as shown in FIG. 6, the dust collection part moving mechanism 72 includes the piston rods 72P connected to the pistons not shown in the drawings and the cylinder 72C configured to slide the piston rods 72P in the Z-axis direction by fluid via the pistons. In other words, the dust collection part moving mechanism 72 is composed of a small-sized pneumatic cylinder mechanism having a simple structure. Accordingly, a reduction in the size of the dust collection device land also a reduction in the size of the robot 1 may be further achieved.

Furthermore, in the robot 1 according to the present embodiment, as shown in FIGS. 2, 7 and 8, the third axis direction is the Z-axis direction, i.e., upward and downward directions, the cutting body 6 is disposed on an upper side in the Z-axis direction, and the dust collection part 71 of the dust collection device 7 is disposed below the cutting body 6 in the Z-axis direction. In other words, the robot 1 employs a downward suction-type dust collection method designed to suck cutting chips from a position below the workpiece 8.

For this reason, the cutting chips generated by the cutting of the workpiece 8 to be cut fall downward in conformity with gravity without defying gravity, and thus cutting chips may be efficiently collected using the dust collection part 71.

Furthermore, the robot 1 employs the downward suction-type dust collection method, as described above, but does not employs an upward suction-type dust collection method designed to collect cutting chips by sucking the cutting chips from a position above a place where the workpiece 8 is cut, thereby effectively suppressing or preventing the lifting of the workpiece 8 to be cut attributable to suction. Although a jig configured to press the workpiece 8 to be cut downward is required to prevent the workpiece 8 to be cut from being lifted, the robot 1 according to the present embodiment does not require such as jig, and thus a reduction in size may be further achieved. Moreover, the robot 1 does not require a special cutting tool configured to guide cutting chips upward.

Furthermore, the robot 1 may prevent the workpiece 8 to be cut from being lifted, thereby effectively suppressing or preventing the occurrence of the bending or stress of the workpiece 8 to be cut.

Furthermore, the robot 1 according to the present embodiment includes the following structure 73 in the dust collection device 7, as shown in FIGS. 1 to 3. The following structure 73 supports the dust collection part moving mechanism 72, and places the dust collection part 71 at a position facing the cutting body 6 to follow the movement of the cutting body 6 relative to the workpiece 8 to be cut.

For this reason, the dust collection part 71 may always be placed at a position facing the cutting body 6 to follow the movement of the cutting body 6 relative to the workpiece 8 to be cut, thereby stably increasing suction force used to suck cutting chips and thus improving dust collection efficiency.

As described above, the robot 1 may always locate the dust collection part 71 in a place where the workpiece 8 is cut, thereby improving dust collection efficiency. Accordingly, when the dust collection part 71 is located in a place where the workpiece Bis cut in a pinpoint manner, cutting chips may reliably be collected using the dust collection part 71. For this reason, the size of the dust collection part 71, i.e., the size of the dust collection device 7, may be reduced, and thus a reduction in the size of the robot 1 may be achieved.

Furthermore, in the robot 1 according to the present embodiment, particularly as shown in FIG. 2, the one end part 731 of the following structure 73 supports the dust collection part 71 via the dust collection part moving mechanism 72, and the remaining end part 732 of the following structure 73 is mounted on the second moving mechanism 4. More specifically, the remaining end part 732 is mounted on the slider 44 of the second moving mechanism 4.

In other words, since the remaining end part 732 of the following structure 73 is mounted on the second moving mechanism 4, the dust collection part 71 may be moved to follow the movement of the second moving mechanism 4, and the dust collection part 71 may always be placed at a position facing the cutting body 6. As a result, in the robot 1, dust collection efficiency may be improved, and also a reduction in size may be achieved.

Furthermore, in the robot 1 according to the present embodiment, the intermediate part 733 of the following structure 73 is formed in a shape that bypasses the workpiece 8 to be cut along the surface of the workpiece 8 to be cut on a cutting body side, as shown in FIGS. 1 to 3.

For this reason, even when the cutting body 6 is moved relative to the workpiece 8 to be cut, contact or interference between the workpiece 8 to be cut and the following structure 73 may be avoided, and the dust collection part 71 may always be placed at a position facing the cutting body 6.

Furthermore, the robot 1 according to the present embodiment includes the first moving mechanism 3 and the second moving mechanism 4, as shown in FIGS. 1 and 2. The first moving mechanism 3 is disposed on the base body 2, and moves the workpiece 8 to be cut (see FIG. 2) in the X-axis direction. The second moving mechanism 4 is supported on the base body 2 via the support portion 41andthe support portion 42, and moves the cutting body 6 in the Y-axis direction orthogonal to the X-axis direction.

In this case, the robot 1 further includes the dust collection device 7. As shown in FIGS. 1 to 8, the dust collection device 7 includes the dust collection part 71 and the following structure 73. The dust collection part 71 is disposed to face the cutting body 6 with the workpiece 8 to be cut interposed therebetween, as shown in FIGS. 2, 7 and 8, and collects the cutting chips generated by the cutting of the workpiece 8 using the cutting body 6. The following structure 73 places the dust collection part 7l at a position facing the cutting body 6 to follow the movement of the cutting body 6 relative to the workpiece 8 to be cut, as shown in FIGS. 1 to 3.

For this reason, the dust collection part 71 may always be placed at a position facing the cutting body 6 to follow the movement of the cutting body 6 relative to the workpiece 8 to be cut, thereby stably increasing suction force used to suck cutting chips and thus improving dust collection efficiency.

As described above, in the robot 1, dust collection efficiency may be improved by always locating the dust collection part 71 in a place where the workpiece 8 is cut. Accordingly, when the dust collection part 71 is located in a place where the workpiece 8 is cut in a pinpoint manner, cutting chips may be reliably collected using the dust collection part 7l. For this reason, the size of the dust collection part 71, i.e., the size of the dust collection device 7, may be made small, and thus a reduction in the size of the robot 1 may be achieved.

Furthermore, the dust collection device 7according to the present embodiment may be used as the dust collection device of the robot 1 including the first moving mechanism 3 and the second moving mechanism 4 shown in FIGS. 1 and 2. In other words, the dust collection device 7 is configured as a dust collection device that is mountable on the robot 1. In the robot 1, the first moving mechanism 3 is disposed on the base body 2, and moves the workpiece 8 to be cut (see FIG. 2) in the X-axis direction. The second moving mechanism 4is supported on the base body 2 via the support portion 41 and the support portion 42, and moves the cutting body 6 in the Y-axis direction orthogonal to the X-axis direction.

As shown in FIGS. 1 to 8, the dust collection device 7 includes the dust collection part 71 and the dust collection part moving mechanism 72. The dust collection part 71 is disposed to face the cutting body 6 with the workpiece 8 to be cut interposed therebetween, as shown in FIGS. 2, 7 and 8, and collects the cutting chips generated by the cutting of the workpiece 8 using the cutting body 6. The dust collection part moving mechanism 72 moves the dust collection part 71 between the first position close to the workpiece 8 to be cut and the second position remote from the workpiece 8 to be cut, as shown in FIGS. 5 to 8.

In the dust collection device 7 configured as described above, cutting chips are collected by the dust collection part 71 in the state of having been brought close to the workpiece 8 to be cut by the dust collection part moving mechanism 72, and thus dust collection efficiency may be improved by improving the suction force of the dust collection part 71 used to suck cutting chips.

As described above, in the dust collection device 7, dust collection efficiency may be improved by bringing the dust collection part 71 close to the workpiece 8 to be cut. When the dust collection part 71 is located in a place where the workpiece 8 is cut in a pinpoint manner, cutting chips may be reliably collected by the dust collection part 71. For this reason, the size of the dust collection part 71, i.e., the size of the dust collection device 7, may be reduced. The dust collection device 7 is used in the robot 1, and thus a reduction in the size of the robot 1 may be achieved.

Furthermore, in the dust collection device 7, the dust collection part 71 may be moved to the second position remote from the workpiece 8 to be cut by using the dust collection part moving mechanism 72, and thus contact or interference between the dust collection part 71 and a protrusion of the workpiece 8 to be cut may be effectively suppressed or prevented.

Furthermore, in the dust collection device 7according to the present embodiment, the dust collection device 7 includes the following structure 73, as shown in FIGS. 1 to 3. The following structure 73 supports the dust collection part moving mechanism 72, and displays the dust collection part 71 at a position facing the cutting body 6 to follow the movement of the cutting body 6 relative to the workpiece 8 to be cut.

For this reason, the dust collection part 71 may always be placed at a position facing the cutting body 6 to follow the movement of the cutting body 6 relative to the workpiece 8 to be cut, thereby stably increasing suction force used to suck cutting chips and thus improving dust collection efficiency.

As described above, in the dust collection device 7, dust collection efficiency can be improved by always locating the dust collection part 71 in a place where the workpiece 8is cut. When the dust collection part 71 is located in a place where the workpiece 8 is cut in a pinpoint manner, cutting chips may be reliably collected using the dust collection part 71. For this reason, the size of the dust collection part 71, i.e., the size of the dust collection device 7, may be reduced. The dust collection device 7 is used in the robot 1, and thus a reduction in the size of the robot 1 may be achieved.

Furthermore, the dust collection method according to the present embodiment moves the workpiece 8 to be cut in the X-axis direction by the first moving mechanism 3 shown in FIGS. 1 and 2, and moves the cutting body 6 in the Y-axis direction orthogonal to the X-axis direction by the second moving mechanism 4. Furthermore, the workpiece 8 is cut using the cutting body 6.

In this case, in the dust collection method, the dust collection part 71 is disposed to face the cutting body 6 with the workpiece 8 to be cut interposed therebetween, as shown in FIG. 2, the dust collection part 71 is moved to the first position close to the workpiece 8 to be cut, as shown in FIGS. 7 and 8, and cutting chips generated by cutting are collected using the dust collection part 71. Furthermore, the dust collection part 71 is moved to the second position remote from the workpiece 8 to be cut.

According to this dust collection method, cutting chips are collected using the dust collection part 71 in the state of having been brought close to the workpiece 8 to be cut by the dust collection part moving mechanism 72 of the dust collection device 7, and thus dust collection efficiency may be improved by improving the suction force of the dust collection part 71 used to suck cutting chips.

Furthermore, in the dust collection method according to the present embodiment, the dust collection part 71 is placed at a position facing the cutting body 6 to follow the movement of the cutting body 6 relative to the workpiece 8 to be cut, as shown in FIGS. 1, 2, 7 and 8, and cutting chips are collected using the dust collection part 71.

According to this dust collection method, the dust collection part 71 may always be placed at a position facing the cutting body 6 to follow the movement of the cutting body 6relative to the workpiece 8 to be cut, thereby stably increasing suction force used to suck cutting chips and thus improving dust collection efficiency.

Other Embodiments

The present invention is not limited to the above-described embodiments, but may be modified in various manners without departing from the gist of the present invention. For example, the present invention may be applied to a robot having a four or more-axis specification. A robot having a four-axis specification includes a rotation mechanism configured to rotate a tool (a cutting body) with a rotating shaft having a direction, which is the same as the Z-axis direction, as its rotation axis direction on the slider of a third moving mechanism. Furthermore, a robot having a five-axis specification includes a tilting mechanism configured to tilt a tool with a tilting shaft having a direction, which is the same as the X-axis direction, as its tilting axis direction on a rotation mechanism. Furthermore, the present invention may be applied to a robot having a cantilever support structure in which the slide rail of a second moving mechanism is supported by one support part.

Furthermore, in the present invention, the dust collection part of the dust collection device may be formed to have an opening shape such as a rectangular tube shape, a pentagonal or higher polygonal tube shape, or an elliptical tube shape.

Furthermore, in the present invention, the dust collection part moving mechanism of the dust collection device may be constructed using an actuator such as a hydraulic cylinder mechanism, an electric cylinder mechanism, or an electromagnetic solenoid.

Furthermore, in the present invention, the following structure of the dust collection device may be formed in a shape that performs by passing along the Y-axis direction.

Furthermore, the present invention may be applied to the dust collection device of a robot, including a horizontal plane moving mechanism (a first moving mechanism) configured to move a workpiece to be cut in a horizontal plane direction (a first axis direction) composed of the X-axis direction and the Y-axis direction and a vertical moving mechanism (a second moving mechanism) configured to move a cutting body in the Z-axis direction (a second axis direction). In addition, the present invention may be applied to the dust collection device of a machine tool, including the same mechanisms as the robot including the horizontal plane moving mechanism and the vertical moving mechanism.

Furthermore, the present invention may be applied to the dust collection device of a robot, including a vertical surface moving mechanism (a first moving mechanism) configured to move a workpiece to be cut in a vertical surface direction (a first axis direction) composed of the X-axis direction and the Z-axis direction and a horizontal moving mechanism (a second moving mechanism) configured to move a cutting body in the Y-axis direction (a second axis direction). In the same manner, the present invention may be applied to the dust collection device of a machine tool, including the same mechanisms as the robot including the vertical surface moving mechanism and the horizontal moving mechanism.

According to the present invention, there are provided the robot, the dust collection device, and the dust collection method that may improve dust collection efficiency and achieve a reduction in size.

Although the specific embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions may be made without departing from the scope and spirit of the invention as disclosed in the accompanying claims. 

1. A robot comprising: a first moving mechanism disposed on a base body and configured to move a workpiece to be cut in a first axis direction; a second moving mechanism supported on the base body via support portions and configured to move a cutting body in a second axis direction orthogonal to the first axis direction; a dust collection part disposed to face the cutting body and configured to collect cutting chips generated by cutting of the workpiece to be cut using the cutting body; and a dust collection part moving mechanism configured to move the dust collection part between a first position close to the workpiece to be cut and a second position remote from the workpiece to be cut.
 2. The robot of claim 1, wherein the dust collection part moving mechanism moves the dust collection part to the first position upon the cutting of the workpiece to be cut using the cutting body.
 3. The robot of claim 1, wherein the dust collection part moving mechanism moves the dust collection part to the second position before or after the cutting of the workpiece to be cut using the cutting body.
 4. The robot of claim 1, wherein: The dust collection part is formed in a tubular shape having a direction orthogonal to each of the first and second axis directions as its tube axis direction; a drive source configured to drive the cutting body is connected to the cutting body; and when viewed in the tube axis direction, an area of an opening of the dust collection part is set to be smaller than that of the drive source and to be larger than that of the cutting body.
 5. The robot of claim 1, wherein the dust collection part moving mechanism is composed of an actuator connected to the dust collection part and configured to reciprocate the dust collection part in a third axis direction orthogonal to each of the first and second axis directions.
 6. The robot of claim 5, wherein the dust collection part is disposed below the cutting body in the third axis direction.
 7. The robot of claim 1, further comprising: a following structure configured to support the dust collection part moving mechanism and to place the dust collection part at a position facing the cutting body to follow movement of the cutting body relative to the workpiece to be cut.
 8. The robot of claim 7, wherein one end part of the following structure supports the dust collection part via the dust collection part moving mechanism, and a remaining end part of the following structure is mounted on the second moving mechanism.
 9. The robot of claim 7, wherein an intermediate part of the following structure is formed in a shape that bypasses the workpiece to be cut.
 10. A robot comprising: a first moving mechanism disposed on a base body and configured to move a workpiece to be cut in a first axis direction; a second moving mechanism supported on the base body via support portions and configured to move a cutting body in a second axis direction orthogonal to the first axis direction; a dust collection part disposed to face the cutting body and configured to collect cutting chips generated by cutting of the workpiece to be cut using the cutting body; and a following structure configured to place the dust collection part at a position facing the cutting body to follow movement of the cutting body relative to the workpiece to be cut.
 11. A dust collection method comprising: moving a workpiece to be cut in a first axis direction; moving a cutting body in a second axis direction orthogonal to the first axis direction; cutting the workpiece to be cut with the cutting body; disposing a dust collection part to face the cutting body, moving the dust collection part to a first position close to the workpiece to be cut, and collecting cutting chips generated by cutting; and moving the dust collection part to a second position remote from the workpiece to be cut.
 12. The dust collection method of claim 11, wherein collecting the cutting chips comprises placing the dust collection part at a position facing the cutting body to follow movement of the cutting body relative to the workpiece to be cut and collecting the cutting chips. 